Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 91 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 91 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 57 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 63 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 300 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 360 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -2 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -6960.708 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 300

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -6960.708

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 360

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -2

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 57 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 63 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 91 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 103037,2539.286,12319.900,39,1.2,39,-3.8 TGT_NAME OFF_5

_CALLS 2 TGT_LATLONG 2514.000,12340.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 103920,2539.427,12320.037,13,1.3,13,-3.8 MHEAD_RNG_PITCHd_Wd 193.4,57757,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 727

Post-dive calculations and measurements:

FINISH 0.8,1.012668 _24V_AH 24.0,21.883

SM_CCo 12019,0.00,0.000,0,0,851,493.30 _10V_AH 10.7,13.377

SM_GC 1.63,8.12,0.00,0.00,0.043,0.000,0.000,161,1508,851,-8.03,0.23,493.30 DATA_FILE_SIZE 75928,1308

IRIDIUM_FIX 2529.44,12322.18,300898,101050 CAP_FILE_SIZE 134840,0

TT8_MAMPS 0.026845 CFSIZE 260165632,227868672

HUMID 1482 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 9.90731 CURRENT 0.272, 75.0,1

TCM_TEMP 25.10 GPS 050609,140107,2537.998,12321.438,34,1.1,34,-3.8

XPDR_PINGS 122

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 241 160.33 SBE_CT 885 24 509.91

Roll_motor 93 58 130.77 Optode 946 33 749.33

VBD_pump_during_apogee 569 1277 17452.49 WL_BB2F 1590 105 4007.30

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 46 103 114.22 nil 0 0 0.00

Iridium_during_connect 74 160 284.84 nil 0 0 0.00

Iridium_during_xfer 240 223 1286.80

Transponder_ping 36 420 362.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.48

TT8 2257 19 478.35

LPSleep 6569 2 153.95

TT8_Active 687 19 145.56

TT8_Sampling 2492 39 1061.28

TT8_CF8 534 45 261.87

TT8_Kalman 0 0 0.00

Analog_circuits 1792 12 230.20

GPS_charging 0 0 0.00

Compass 2479 8 212.28

RAFOS 0 0 0.00

Transponder 38 30 12.39

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.94 -194.7 0.0 0.0 0 91 0.00 0.00 -74.85 0.000 2 0.000 0.000 167 1482 2435

93 -0.94 -194.7 3.1 -5.5 12 145 9.12 1.92 -34.28 0.000 4 0.242 0.058 2430 219 3659

320 -0.15 -194.7 75.8 -35.1 51 328 0.82 1.88 0.00 0.000 6 0.161 0.031 2682 1493 3659

666 -0.57 -194.7 107.4 -6.6 112 673 0.32 2.05 0.00 0.000 4 0.040 0.037 2528 2904 3660

732 -0.35 -194.7 117.2 -17.8 123 739 0.32 2.03 0.00 0.000 6 0.139 0.031 2624 1492 3660

1076 -0.58 -194.7 155.3 -9.1 184 1083 0.17 1.92 0.00 0.000 4 0.057 0.042 2533 205 3661

1130 -0.37 -194.7 163.0 -16.9 193 1137 0.22 1.85 0.00 0.000 6 0.136 0.028 2619 1491 3662

1475 -0.66 -194.7 189.2 -6.6 254 1483 0.22 2.05 0.00 0.000 4 0.050 0.038 2506 2898 3662

1506 -0.66 -194.7 192.6 -11.5 259 1512 0.00 2.03 0.00 0.000 6 0.000 0.032 2506 1488 3661

1849 -0.50 -194.7 248.9 -13.4 320 1856 0.20 1.88 0.00 0.000 4 0.143 0.044 2570 210 3662

1878 -0.50 -194.7 252.3 -11.5 325 1884 0.00 1.83 0.00 0.000 6 0.000 0.028 2570 1494 3661

2222 -0.69 -194.7 278.3 -7.9 386 2230 0.15 2.05 0.00 0.000 4 0.061 0.041 2495 2902 3662

2253 -0.69 -194.7 281.7 -11.8 391 2259 0.00 2.03 0.00 0.000 6 0.000 0.032 2495 1498 3661

2585 -0.58 -194.7 326.6 -13.7 434 2590 0.17 2.08 0.00 0.000 4 0.140 0.042 2542 2899 3661

2658 -0.84 -194.7 333.6 -8.7 440 2662 0.22 2.05 0.00 0.000 6 0.048 0.034 2437 1485 3661

2981 -0.59 -194.7 388.7 -15.4 470 2983 0.35 0.00 0.00 0.000 6 0.140 0.000 2547 1485 3661

3301 -0.79 -194.7 415.9 -8.4 500 3306 0.15 2.10 0.00 0.000 4 0.062 0.044 2453 2889 3658

3333 -0.79 -194.7 419.2 -11.6 502 3341 0.00 2.05 0.00 0.000 6 0.000 0.037 2454 1510 3658

3658 -0.71 -194.7 459.2 -12.2 533 3662 0.20 1.95 0.00 0.000 4 0.135 0.049 2521 206 3655

3714 -0.85 -194.7 464.7 -9.2 538 3718 0.15 1.88 0.00 0.000 6 0.063 0.031 2447 1514 3655

4043 -0.77 -194.7 505.3 -12.5 567 4047 0.15 1.98 0.00 0.000 4 0.142 0.048 2491 207 3653

4126 -0.82 -194.7 513.9 -9.9 570 4133 0.00 1.90 0.00 0.000 6 0.000 0.033 2490 1499 3651

4441 -0.93 -194.7 540.4 -8.3 586 4445 0.15 2.10 0.00 0.000 4 0.064 0.046 2410 2906 3649

4550 -0.83 -194.7 552.6 -11.4 591 4554 0.20 2.05 0.00 0.000 6 0.139 0.038 2471 1516 3647

4876 -0.83 -194.7 579.6 -7.4 607 4877 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1516 3645

5185 -0.90 -194.7 611.7 -11.0 622 5188 0.00 2.00 0.00 0.000 4 0.000 0.054 2471 197 3642

5216 -0.90 -194.7 615.6 -11.6 623 5223 0.00 1.95 0.00 0.000 6 0.000 0.036 2471 1503 3642

5533 -0.96 -194.7 649.4 -10.6 639 5535 0.12 0.00 0.00 0.000 6 0.072 0.000 2413 1505 3639

5843 -0.80 -194.7 688.5 -12.1 654 5847 0.20 2.00 0.00 0.000 4 0.149 0.054 2478 201 3637

5910 -0.86 -194.7 695.4 -9.3 657 5913 0.00 1.92 0.00 0.000 6 0.000 0.038 2478 1509 3636

6242 -0.96 -194.7 724.5 -9.3 673 6247 0.12 2.10 0.00 0.000 4 0.072 0.051 2410 2901 3633

6263 end dive: TARGET_DEPTH_EXCEEDED

state 6263 begin apogee

6268 -0.20 0.0 727.0 11.0 674 6428 0.80 0.00 156.60 1.277 6 0.131 0.000 2669 1743 2863

6429 end apogee: CONTROL_FINISHED_OK

state 6429 begin climb

6431 0.94 194.7 733.7 0.0 682 6599 1.02 0.00 164.52 1.244 6 0.046 0.000 3052 1742 2068

6895 0.39 194.7 656.7 21.0 705 6900 0.60 2.20 0.00 0.000 4 0.168 0.053 2874 3147 2062

6921 0.26 194.7 652.0 14.9 706 6926 0.17 2.15 0.00 0.000 6 0.134 0.041 2826 1757 2061

7243 0.65 309.6 628.6 6.6 722 7352 0.30 2.38 96.38 1.196 4 0.047 0.055 2973 330 1598

7452 0.48 309.6 595.7 17.9 731 7457 0.25 2.20 0.00 0.000 6 0.145 0.040 2896 1738 1594

7774 0.57 309.6 554.9 12.3 747 7775 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 1740 1590

8082 0.66 309.6 517.4 12.5 762 8084 0.17 0.00 0.00 0.000 6 0.061 0.000 2973 1741 1588

8399 0.48 309.6 459.9 18.0 787 8403 0.25 2.15 0.00 0.000 4 0.149 0.053 2905 343 1587

8437 0.57 309.6 454.2 13.0 790 8441 0.00 2.10 0.00 0.000 6 0.000 0.040 2905 1744 1587

8768 0.64 309.6 415.6 12.2 821 8770 0.12 0.00 0.00 0.000 6 0.069 0.000 2967 1745 1586

9087 0.51 309.6 361.7 16.7 851 9089 0.22 0.00 0.00 0.000 6 0.146 0.000 2902 1747 1585

9407 0.64 314.5 326.0 10.8 881 9411 0.12 2.12 0.00 0.000 4 0.068 0.050 2963 3147 1584

9461 0.56 314.5 317.5 15.6 885 9468 0.15 2.12 0.00 0.000 6 0.146 0.039 2925 1742 1583

9797 0.62 314.5 274.6 13.8 934 9805 0.00 2.10 0.00 0.000 4 0.000 0.052 2933 346 1583

9821 0.67 314.5 271.1 14.4 938 9829 0.00 2.05 0.00 0.000 6 0.000 0.038 2933 1744 1583

10166 0.77 338.1 231.4 10.1 999 10192 0.15 0.00 22.40 0.914 6 0.061 0.000 3013 1745 1484

10530 0.62 338.1 173.5 17.1 1063 10536 0.22 2.15 0.00 0.000 4 0.146 0.048 2951 337 1480

10616 0.79 351.4 162.0 10.5 1078 10637 0.12 2.05 12.20 0.807 6 0.068 0.035 3021 1741 1429

10977 0.72 351.4 112.8 14.6 1141 10984 0.17 2.12 0.00 0.000 4 0.137 0.046 2975 336 1427

11008 0.79 351.4 108.3 13.6 1146 11016 0.00 2.03 0.00 0.000 6 0.000 0.033 2975 1733 1427

11354 1.10 416.6 77.5 8.5 1207 11418 0.28 2.20 54.65 0.752 4 0.044 0.045 3124 345 1163

11504 0.85 416.6 49.7 20.2 1232 11511 0.38 2.05 0.00 0.000 6 0.140 0.031 3012 1741 1161

11848 1.16 492.3 16.3 8.1 1293 11920 0.22 2.22 62.67 0.680 4 0.047 0.045 3143 343 855

11930 end climb: SURFACE_DEPTH_REACHED

state 11930 begin surface coast

11943 end surface coast: CONTROL_FINISHED_OK

state 11943 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	91	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	57	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	63	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	300	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	360	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-2	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-6960.708	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	103037,2539.286,12319.900,39,1.2,39,-3.8	TGT_NAME	OFF_5
_CALLS	2	TGT_LATLONG	2514.000,12340.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	103920,2539.427,12320.037,13,1.3,13,-3.8	MHEAD_RNG_PITCHd_Wd	193.4,57757,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	727

FINISH	0.8,1.012668	_24V_AH	24.0,21.883
SM_CCo	12019,0.00,0.000,0,0,851,493.30	_10V_AH	10.7,13.377
SM_GC	1.63,8.12,0.00,0.00,0.043,0.000,0.000,161,1508,851,-8.03,0.23,493.30	DATA_FILE_SIZE	75928,1308
IRIDIUM_FIX	2529.44,12322.18,300898,101050	CAP_FILE_SIZE	134840,0
TT8_MAMPS	0.026845	CFSIZE	260165632,227868672
HUMID	1482	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	9.90731	CURRENT	0.272, 75.0,1
TCM_TEMP	25.10	GPS	050609,140107,2537.998,12321.438,34,1.1,34,-3.8
XPDR_PINGS	122

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	241	160.33	SBE_CT	885	24	509.91
Roll_motor	93	58	130.77	Optode	946	33	749.33
VBD_pump_during_apogee	569	1277	17452.49	WL_BB2F	1590	105	4007.30
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	46	103	114.22	nil	0	0	0.00
Iridium_during_connect	74	160	284.84	nil	0	0	0.00
Iridium_during_xfer	240	223	1286.80
Transponder_ping	36	420	362.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.48
TT8	2257	19	478.35
LPSleep	6569	2	153.95
TT8_Active	687	19	145.56
TT8_Sampling	2492	39	1061.28
TT8_CF8	534	45	261.87
TT8_Kalman	0	0	0.00
Analog_circuits	1792	12	230.20
GPS_charging	0	0	0.00
Compass	2479	8	212.28
RAFOS	0	0	0.00
Transponder	38	30	12.39

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.94	-194.7	0.0	0.0	0	91	0.00	0.00	-74.85	0.000	2	0.000	0.000	167	1482	2435
93	-0.94	-194.7	3.1	-5.5	12	145	9.12	1.92	-34.28	0.000	4	0.242	0.058	2430	219	3659
320	-0.15	-194.7	75.8	-35.1	51	328	0.82	1.88	0.00	0.000	6	0.161	0.031	2682	1493	3659
666	-0.57	-194.7	107.4	-6.6	112	673	0.32	2.05	0.00	0.000	4	0.040	0.037	2528	2904	3660
732	-0.35	-194.7	117.2	-17.8	123	739	0.32	2.03	0.00	0.000	6	0.139	0.031	2624	1492	3660
1076	-0.58	-194.7	155.3	-9.1	184	1083	0.17	1.92	0.00	0.000	4	0.057	0.042	2533	205	3661
1130	-0.37	-194.7	163.0	-16.9	193	1137	0.22	1.85	0.00	0.000	6	0.136	0.028	2619	1491	3662
1475	-0.66	-194.7	189.2	-6.6	254	1483	0.22	2.05	0.00	0.000	4	0.050	0.038	2506	2898	3662
1506	-0.66	-194.7	192.6	-11.5	259	1512	0.00	2.03	0.00	0.000	6	0.000	0.032	2506	1488	3661
1849	-0.50	-194.7	248.9	-13.4	320	1856	0.20	1.88	0.00	0.000	4	0.143	0.044	2570	210	3662
1878	-0.50	-194.7	252.3	-11.5	325	1884	0.00	1.83	0.00	0.000	6	0.000	0.028	2570	1494	3661
2222	-0.69	-194.7	278.3	-7.9	386	2230	0.15	2.05	0.00	0.000	4	0.061	0.041	2495	2902	3662
2253	-0.69	-194.7	281.7	-11.8	391	2259	0.00	2.03	0.00	0.000	6	0.000	0.032	2495	1498	3661
2585	-0.58	-194.7	326.6	-13.7	434	2590	0.17	2.08	0.00	0.000	4	0.140	0.042	2542	2899	3661
2658	-0.84	-194.7	333.6	-8.7	440	2662	0.22	2.05	0.00	0.000	6	0.048	0.034	2437	1485	3661
2981	-0.59	-194.7	388.7	-15.4	470	2983	0.35	0.00	0.00	0.000	6	0.140	0.000	2547	1485	3661
3301	-0.79	-194.7	415.9	-8.4	500	3306	0.15	2.10	0.00	0.000	4	0.062	0.044	2453	2889	3658
3333	-0.79	-194.7	419.2	-11.6	502	3341	0.00	2.05	0.00	0.000	6	0.000	0.037	2454	1510	3658
3658	-0.71	-194.7	459.2	-12.2	533	3662	0.20	1.95	0.00	0.000	4	0.135	0.049	2521	206	3655
3714	-0.85	-194.7	464.7	-9.2	538	3718	0.15	1.88	0.00	0.000	6	0.063	0.031	2447	1514	3655
4043	-0.77	-194.7	505.3	-12.5	567	4047	0.15	1.98	0.00	0.000	4	0.142	0.048	2491	207	3653
4126	-0.82	-194.7	513.9	-9.9	570	4133	0.00	1.90	0.00	0.000	6	0.000	0.033	2490	1499	3651
4441	-0.93	-194.7	540.4	-8.3	586	4445	0.15	2.10	0.00	0.000	4	0.064	0.046	2410	2906	3649
4550	-0.83	-194.7	552.6	-11.4	591	4554	0.20	2.05	0.00	0.000	6	0.139	0.038	2471	1516	3647
4876	-0.83	-194.7	579.6	-7.4	607	4877	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	1516	3645
5185	-0.90	-194.7	611.7	-11.0	622	5188	0.00	2.00	0.00	0.000	4	0.000	0.054	2471	197	3642
5216	-0.90	-194.7	615.6	-11.6	623	5223	0.00	1.95	0.00	0.000	6	0.000	0.036	2471	1503	3642
5533	-0.96	-194.7	649.4	-10.6	639	5535	0.12	0.00	0.00	0.000	6	0.072	0.000	2413	1505	3639
5843	-0.80	-194.7	688.5	-12.1	654	5847	0.20	2.00	0.00	0.000	4	0.149	0.054	2478	201	3637
5910	-0.86	-194.7	695.4	-9.3	657	5913	0.00	1.92	0.00	0.000	6	0.000	0.038	2478	1509	3636
6242	-0.96	-194.7	724.5	-9.3	673	6247	0.12	2.10	0.00	0.000	4	0.072	0.051	2410	2901	3633
6263	end dive: TARGET_DEPTH_EXCEEDED
state	6263	begin apogee
6268	-0.20	0.0	727.0	11.0	674	6428	0.80	0.00	156.60	1.277	6	0.131	0.000	2669	1743	2863
6429	end apogee: CONTROL_FINISHED_OK
state	6429	begin climb
6431	0.94	194.7	733.7	0.0	682	6599	1.02	0.00	164.52	1.244	6	0.046	0.000	3052	1742	2068
6895	0.39	194.7	656.7	21.0	705	6900	0.60	2.20	0.00	0.000	4	0.168	0.053	2874	3147	2062
6921	0.26	194.7	652.0	14.9	706	6926	0.17	2.15	0.00	0.000	6	0.134	0.041	2826	1757	2061
7243	0.65	309.6	628.6	6.6	722	7352	0.30	2.38	96.38	1.196	4	0.047	0.055	2973	330	1598
7452	0.48	309.6	595.7	17.9	731	7457	0.25	2.20	0.00	0.000	6	0.145	0.040	2896	1738	1594
7774	0.57	309.6	554.9	12.3	747	7775	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	1740	1590
8082	0.66	309.6	517.4	12.5	762	8084	0.17	0.00	0.00	0.000	6	0.061	0.000	2973	1741	1588
8399	0.48	309.6	459.9	18.0	787	8403	0.25	2.15	0.00	0.000	4	0.149	0.053	2905	343	1587
8437	0.57	309.6	454.2	13.0	790	8441	0.00	2.10	0.00	0.000	6	0.000	0.040	2905	1744	1587
8768	0.64	309.6	415.6	12.2	821	8770	0.12	0.00	0.00	0.000	6	0.069	0.000	2967	1745	1586
9087	0.51	309.6	361.7	16.7	851	9089	0.22	0.00	0.00	0.000	6	0.146	0.000	2902	1747	1585
9407	0.64	314.5	326.0	10.8	881	9411	0.12	2.12	0.00	0.000	4	0.068	0.050	2963	3147	1584
9461	0.56	314.5	317.5	15.6	885	9468	0.15	2.12	0.00	0.000	6	0.146	0.039	2925	1742	1583
9797	0.62	314.5	274.6	13.8	934	9805	0.00	2.10	0.00	0.000	4	0.000	0.052	2933	346	1583
9821	0.67	314.5	271.1	14.4	938	9829	0.00	2.05	0.00	0.000	6	0.000	0.038	2933	1744	1583
10166	0.77	338.1	231.4	10.1	999	10192	0.15	0.00	22.40	0.914	6	0.061	0.000	3013	1745	1484
10530	0.62	338.1	173.5	17.1	1063	10536	0.22	2.15	0.00	0.000	4	0.146	0.048	2951	337	1480
10616	0.79	351.4	162.0	10.5	1078	10637	0.12	2.05	12.20	0.807	6	0.068	0.035	3021	1741	1429
10977	0.72	351.4	112.8	14.6	1141	10984	0.17	2.12	0.00	0.000	4	0.137	0.046	2975	336	1427
11008	0.79	351.4	108.3	13.6	1146	11016	0.00	2.03	0.00	0.000	6	0.000	0.033	2975	1733	1427
11354	1.10	416.6	77.5	8.5	1207	11418	0.28	2.20	54.65	0.752	4	0.044	0.045	3124	345	1163
11504	0.85	416.6	49.7	20.2	1232	11511	0.38	2.05	0.00	0.000	6	0.140	0.031	3012	1741	1161
11848	1.16	492.3	16.3	8.1	1293	11920	0.22	2.22	62.67	0.680	4	0.047	0.045	3143	343	855
11930	end climb: SURFACE_DEPTH_REACHED
state	11930	begin surface coast
11943	end surface coast: CONTROL_FINISHED_OK
state	11943	begin surface